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016 Hydrodynamics
Reading #6
2.016 Hydrodynamics
Prof. A.H. Techet
Added Mass
For the case of unsteady motion of bodies underwater or unsteady flow around objects, we must consider the additional effect (force) resulting from the fluid acting on the structure when formulating the system equation of motion. This added effect is added mass. Most floating structures can be modeled, for small motions and linear behavior, by a system equation with the basic form similar to a typical mass-spring-dashpot system described by the following equation:
mx + bx + kx = f (t )
(6.1)
where m is the system mass, b is the linear damping coefficient, k is the spring coefficient, f(t) is the force acting on the mass, and x is the displacement of the mass. The natural frequency of the system is simply
k . m
(6.2)
In a physical sense, this added mass is the weight added to a system due to the fact that an accelerating or decelerating body (ie. unsteady motion: dU dt 0 ) must move some volume of surrounding fluid with it as it moves. The added mass force opposes the motion and can be factored into the system equation as follows: x mx + bx + kx = f (t ) ma where ma is the added mass. Reordering the terms the system equation becomes:
x ( m + ma ) + bx + kx = f (t )
(6.3)
(6.4)
From here we can treat this again as a simple spring-mass-dashpot system with a new mass m = m + ma such that the natural frequency of the system is now
k k = m m + ma
(6.5)
It is important in ocean engineering to consider floating vessels or platforms motions in more than one direction. Added mass forces can arise in one direction due to motion in a different direction, and thus we can end up with a 6 x 6 matrix of added mass coefficients.
2005 A. Techet
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2.016 Hydrodynamics
Reading #6
Looking simply at a body in two-dimensions we can have linear motion in two directions and rotational motion in one direction. (Think of these coordinates as if you were looking down on a ship.)
Two dimensional motion with axis (x,y) fixed on the body. 1: Surge, 2: Sway, 6: Yaw
F1 = m11
(6.6)
F2 = m21 F6 = m61
(6.7)
(6.8)
Where F1, F2, and F6, are the surge (x-) force, sway (y-) force and yaw moments respectively. It is common practice in Ocean Engineering and Naval Architecture to write the moments for roll, pitch, and yaw as F4, F5, and F6 and the angular motions in these directions as X4, X5, and X6.
This set of equations, (6.6)-(6.8), can be written in matrix form, F = [ M ]u ,
(6.9)
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2.016 Hydrodynamics
Reading #6
(6.10)
We will often abbreviate how we write the Force matrix given in (6.10) using tensor notation. The force vector is written as
F = Fi , where i = 1, 2, 3 , 4, 5, 6 , N N
Linear Forces Moments
(6.11)
the acceleration vector as ui = [u1 , u2 , u3 , u4 , u5 , u6 ] , and the added mass matrix [ma] as (6.12)
mij where i, j = 1, 2, 3, 4, 5, 6 .
(6.13)
A good way to think of the added mass components, mij , is to think of each term as mass associated with a force on the body in the i th direction due to a unit acceleration in the j th direction.
For symmetric geometries the added mass tensor simplifies significantly. For example, figure 2 shows added mass values for a circle, ellipse, and square. In the case of the circle and square, movement in the 1 and 2 directions yields similar geometry and identical added mass coefficients ( m11 = m22 ).
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2.016 Hydrodynamics
Reading #6
Two dimensional added mass coefficients for a circle, ellipse, and square in 1: Surge, 2: Sway, 6: Yaw
Using these coefficients and those tabulated in Newmans Marine Hydrodynamics on p.145 we can determine the added mass forces quite simply.
1 = mA 2
(6.14)
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2.016 Hydrodynamics
Reading #6
Velocities:
G Translation Velocity : U (t ) = (U1 , U 2 ,U 3 )
G Rotational Velocity : (t ) = (1 , 2 , 3 ) (U 4 ,U 5 ,U 6 )
(6.15) (6.16)
All rotation is taken with respect to Origin of the coordinate system (often placed at the center of gravity of the object for simplicity!).
Forces: (force in the jth direction). ( i = 1, 2, 3, 4, 5, 6 and j, k , l = 1, 2, 3)
(6.17)
(6.18)
jkl
(6.19)
The full form of the force in the x-direction (F1) is summed over all values of i:
F1 = U 1 m11 U 2 m21 U 3 m31 U 4 m41 U 5 m51 U 6 m61 N N
j=1 i=1 i=2 i=3 i=4 i=5 i=6
(6.20)
1kl U 5 k ml 5 1kl U 6 k ml 6
i=5 i=6
for k , l = 1, 2, 3 .
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2.016 Hydrodynamics
Reading #6
Next we can choose the index k to cycle through. It is helpful to note that the only terms where k plays a role, contain jkl . Following the definition for jkl given in (6.19) and since j = 1, all terms will be zero for k = 1. Therefore k can only take the value of 2 or 3:
k =2
k =3
(6.21) Finally we cycle through the index l. Again it is helpful to note that the only terms where l plays a role, contain jkl . Following the definition for jkl given in (6.19) and since j = 1, and k = 2 or 3, then all terms will be zero for l = 1 and some zero for the case l = 2 and others zero when l =3. Like before l can only take the value of 2 or 3 such that l k j :
123 U1 2 m31 123 U 2 2 m32 123 U 3 2 m33 123 U 4 2 m34 123 U 5 2 m35 123 U 6 2 m36
i =6 i =1 i = 4
i =5 i=2 i =3
k = 2; l =3
132 U1 3 m21 132 U 2 3 m22 132 U 3 3 m23 132 U 4 3 m24 132 U 5 3 m25 132 U 6 3m26
i=2 i =3 i =6 i =1 i = 4
i =5
k = 3; l = 2
(6.22) On the second row of the equation above, the indices of the alternating tensor, jkl , are in cyclic order jkl = 123 ( 123 = +1). In the third row, the indices are in anti (or reverse) cyclic order: 132 = 1 where jkl = 132. More than likely you will never have to write out all six force equations with all the terms as the velocity and acceleration of the body will be zero in certain directions. However for a full seakeeping analysis of a ship then one day you just might need to be able to determine all the forces!
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2005 A. Techet
2.016 Hydrodynamics
Reading #6
(6.23)
(6.24)
we can find the force on the body in the X-direction. The force in the x-direction is F1 so j=1. First substitute 1 for every instance of j in equation (6.17) to get:
(6.25)
Next we need to cycle through the possible values for i (i = 1,2,3,4,5,6). Looking at equation (6.25), it is clear that the only ith accelerations that will matter are the non-zero ones from (6.24), thus U1 and U 6 , and the only ith velocities to consider are for i = 1,3, and 6 [eqn (6.23)].
i =1 i =6 i =1 i =3 i =6
(6.26)
Now look at the k-index: ( k j k = 2, 3 ) However 2 = 0 and 3 0 thus for k = 2 all associated terms will be zero, so we only have to deal with k = 3 . Since j = 1 and k = 3 the only value left for l, that could result in non-zero terms, is 2.
F1 = U 1 m11 U 6 m61 N
i=1 i=6
k =3; l =2
(6.27)
If the body in question was a simple, symmetrical sphere we could reduce this even further. Using the added mass values from (6.14) and trusting that the off-diagonal added mass terms are zero (just for the sphere), the force in the x-direction on a sphere, given (6.23) and (6.24), is
F1 = U 1 m11 N
i=1
(6.28)
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2.016 Hydrodynamics
Reading #6
(6.29)
where mij is the added mass in the ith direction due to a unit acceleration in the jth direction and i,j = 1:6. The added mass tensor, mij , is symmetric!
To find the 3D added mass coefficients consider simply the body geometry, ignoring for now the actual motions of the vessel. To start, orient the 1-axis along the long axis of the slender body as shown in figure 1. The 3D added mass coefficients will be found by summing (or integrating) the added mass coefficients of the 2D cross-sectional slices along the body.
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2005 A. Techet
2.016 Hydrodynamics
Reading #6
The sectional added mass coefficients are tabulated for simple geometries. In general, with the slender body aligned lengthwise along the 1-axis, the 2D cross-sectional slice is aligned with the 2-3 plane, some distance x from the origin (figure 1). This 2D slice is shown in figure 2. To find the 3D coefficients we need to know the 2D coefficient of each section (strip) along the length of the vessel. For a uniform diameter cylinder this is quite simple, but for ships with complex geometry there is a bit more work involved.
The 2D coefficients will be written as aij whereas the 3D coefficients are written as mij . From here on we will follow the basic formulations used in the handbook: Principles of Naval Architecture Vol III., (1989) Soc. Naval Arch. and Marine Engineers, p. 56.
1 1 2 3 4 5 6 m22 = a22 dx m23 = a23 dx m24 = a24 dx
L L L
6 m26 = x a22 dx
L
m33 = a33 dx
L
m35 = x a33 dx
L
m44 = a44 dx
L
m46 = x a24 dx
L
m55 = x 2 a33 dx
L
m66 = x 2 a22 dx
L
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2005 A. Techet